Affiliation:
1. Burgas Free University , 8000 Burgas , Bulgaria
2. K. N. Toosi University , Tehran , Iran (Islamic Republic of)
Abstract
Abstract
The paper contributes to the design and implementation of the ultrasonic positioning system based on new multifunctional hardware components, newly released. A moving object coordinates’ determination is described analytically and a matrix equation in respect to unknown coordinates with coefficients, measurement distances, is derived. Stages of data packet processing are formulated, and a pseudo pyramid of measurement distances is built. HX7TR multifunctional ultrasonic devises, transceivers, are used to implement the positioning system. A C# program source code for coordinate determination and 3D visualization is created. The algorithm for moving object coordinate computation, and its program realization as well as HX7TR ultrasonic devises can be used in development of indoor ultrasonic positioning systems embedded in IoT and robotics applications.
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